JPH0351023A - Self-propelled cleaner - Google Patents

Abstract

PURPOSE:To allow a smooth direction change and improve the running property and dust collecting efficiency by judging the material of a floor face with a floor face judging means, and driving an actuator. CONSTITUTION:The running direction is changed while an obstacle is detected by a range sensor 19 and a bumper 20 during running. A floor material is judged, an agitator 7 is rotated if it is a carpet, and the agitator 7 is not rotated if it is a bare floor. The prostratable plate 40 of a floor nozzle 6 is fitted to a U-stripe retreated with the bottom shape around a suction port during running. When the dust on a floor face touches with the prostratable plate 40, it is moved near the suction port, and the dust collection efficiency is improved. Only the tip of the prostratable plate 40 is brought into contact with the floor face, the floor nozzle 6 does not collide with a protruded step on the floor face, the prostratable plate 40 is prostrated backward, thus it is not hooked on the protruded step on the floor face.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a self-propelled vacuum cleaner that is equipped with a cleaning function and a self-propelled function and that performs cleaning automatically.

2. Description of the Related Art Conventionally, vacuum cleaners have been developed in which a self-propelled function is added to vacuum cleaners to automate cleaning.

This type of self-propelled vacuum cleaner is equipped with a suction port, brushes, etc. at the bottom of the main body for cleaning functions, and has running wheels and steering wheels driven by a motor for self-propelled functions. It is something to be cleaned.

Problems to be Solved by the Invention However, with such conventional self-propelled vacuum cleaners, the floor nozzle at the bottom of the main unit obstructs the movement of the main unit, making it difficult to change directions smoothly and making it difficult to climb over steps. In particular, since agitators such as rotating brushes used on carpet surfaces need to be brought into contact with the floor surface, they tend to get caught on uneven floor surfaces.

Therefore, the first object of the present invention is to realize a self-propelled vacuum cleaner in which the floor nozzle does not interfere with the running of the main body.

The second object is to obtain a self-propelled vacuum cleaner in which the agitator is biased towards the main body, and which does not interfere with the movement of the agitator main body.

A third object is to provide a self-propelled vacuum cleaner in which the agitator is automatically stored in the main body when it is unnecessary, thereby minimizing collisions between the agitator and the floor surface.

Means for Solving the Problems In order to achieve the above-mentioned first object, the self-propelled vacuum cleaner of the present invention has a self-propelled means for self-propelling the vacuum cleaner body, a suction port for sucking dirt from the floor, and The main body is equipped with a floor nozzle having an end surface in contact with the floor and a retractable plate that can be folded backwards in the rear and lateral direction of the suction port, and the collapsible plate has a bottom shape that recedes the sides of the suction port. The first method is to use a self-propelled vacuum cleaner installed in a 7-shape or a U-shape.

In addition, in order to achieve the second objective, the main body is equipped with self-propelled means for self-propelling the vacuum cleaner main body, and a floor nozzle having a suction port for sucking dirt on the floor surface and an agitator that is rotationally driven. The second means is that the support member that supports the rotating shaft is configured to be rotatable about a rotating shaft provided parallel to the rotating shaft.

In addition, in order to achieve the third objective, a self-propelled means for self-propelling the vacuum cleaner body, a floor nozzle having a suction port for suctioning dirt on the floor and an agitator that is rotationally driven, and a floor for cleaning the floor. The third means includes a floor surface discriminating means for discriminating the quality of the floor surface, and the support member that supports the rotation axis of the agitator is rotated by an actuator about a rotation axis parallel to the rotation axis. It is said that

In the self-propelled vacuum cleaner according to the first means, the floor nozzle itself is placed away from the floor surface, and a retractable plate that can be folded backward is brought into contact with the floor surface, so this does not interfere with the movement of the main body. Not,
By installing a retractable plate in the shape of a 7 or U-shape with the bottom of the suction port receding, the retractable plate collects dirt on the floor near the suction port while driving. Dust collection efficiency does not decrease even if the nozzle itself is placed away from the floor.

Moreover, according to the second means, the agitator at the bottom of the main body is
By rotating the support member that supports the agitator with respect to the rotation wheel, it can freely move up and down with respect to the floor nozzle. For example, if the agitator collides with a convex part of the floor surface, the agitator will escape upwards and the main body Does not affect driving.

Further, according to the third means, the material of the floor surface is determined by the floor surface determination means, and depending on whether the use of the agitator is necessary or not, the agitator is stored in the main body or moved outside by driving the actuator. It can be made to stick out.

EXAMPLE Hereinafter, an example of the present invention will be described based on FIGS. 1 to 4.

FIG. 1 shows the overall configuration of a self-propelled vacuum cleaner according to the present invention. 1 is the main body of the self-propelled vacuum cleaner, 2 is the electric blower, 3 is the dust collection chamber, 4
．． 5 is a filter provided inside the dust collection chamber 3. A is a floor nozzle section provided at the center of the bottom of the main body 1, and the floor nozzle 6 is equipped with an agitator 7 consisting of a rotating brush or the like driven by a drive motor (not shown). A detailed explanation of this floor nozzle section A will be given later. A connecting pipe 8 connects the floor nozzle 6 and the dust collection chamber 3. Reference numeral 9 denotes a running wheel attached to the running drive unit 10, which is driven by the running motor 11 via a reduction gear (not shown). 12 is a slave shaft rotatably mounted at the rear of the main body 1. The traveling drive section 10 is driven by a steering motor 15 via a steering shaft 13 and a steering speed reducer 14 attached thereto, and thereby rotates left and right to change the traveling direction. The above 9 to 15 constitute a self-propelled means. Reference numeral 16 denotes a travel encoder which is a rotary encoder that detects the rotational speed of the travel motor 11, and 17 is a steering encoder which is also a rotary encoder and which detects the rotational speed of the steering motor 15. A direction detection sensor 18 detects the direction of the main body 1, and in this embodiment, a rate gyro is used. The position is recognized by detecting the distance and direction of travel of the main body 1 from the rotational speed detected by the travel encoder 16 and the direction of the main body 1 detected by the direction detection sensor 18. Reference numeral 19 denotes a distance measuring sensor consisting of an ultrasonic sensor provided around the main body 1, which measures the distance to an obstacle. Reference numeral 20 denotes a bumper attached to the outer periphery of the main body 1, which is equipped with a contact sensor inside to detect contact with an obstacle. Reference numeral 21 denotes a floor sensor consisting of an ultrasonic sensor installed in front of the travel drive unit 17, which detects the quality of the floor to be swept by whether it is a carpet or a bare floor based on the reflected state of the ultrasonic waves. . This floor sensor 21 constitutes a floor discrimination means. 22 is a control circuit that performs overall control, and 23 is a power source consisting of a storage battery or the like. Reference numeral 24 denotes an operation section, which includes an operation switch 25 and an indicator 26 such as an indicator lamp or a buzzer.

2 and 3 are detailed views of the floor nozzle section A. In the figure, an arrow a indicates the front of the main body 1.

Reference numeral 31 denotes a suction port provided at the center of the floor nozzle 6, which communicates with the dust collection chamber 3 via a connecting vibrator 8. The agitator 7 has a rotary shaft 32 supported by a support member 33, and is driven to rotate in the direction of the arrow B to scrape up dirt on the floor B. The support member 33 is
As shown in FIG. 3, it has a U-shape and holds rotation bearings 34 at both ends of the agitator 7. The support member 33 is rotatably supported by a rotation shaft 35 parallel to the rotation shaft 32 provided on the floor nozzle 6, and is freely movable in the direction of arrow C. 36 is a timing pulley provided at one end of the agitator 7;
It is connected by a timing belt 38 to an idler boot IJ37 which is supported coaxially with the engine 5. The idle boob IJ 37 is connected via a timing belt 39 to a drive motor (not shown) provided above the floor nozzle 6 . Reference numeral 40 denotes a retractable plate provided laterally at the rear of the suction port 31 of the floor nozzle 6, the tip of which is in contact with the floor surface B, and is retractable in the direction of arrow d.

In this embodiment, a plate made of a flexible material such as a rubber plate is fixed to the bottom of the floor nozzle 6. In addition, this retractable board 40
As shown in FIG. 3, the bottom surface is installed in a U-shape with the suction port 31 and its surroundings set back. Reference numeral 41 denotes a skirt made of a flexible material that covers the front and side parts of the floor nozzle 6, and its lower end is attached with a gap I from the floor surface B, which prevents a sudden pressure drop in the suction force at the bottom of the floor nozzle 6. prevents dust collection and improves dust collection efficiency. 42 is an air guide on the inner wall of the floor nozzle 6 that smoothly guides suction air to the suction port 31.

The operation of the self-propelled vacuum cleaner configured as above will be described below.

For example, when the self-propelled vacuum cleaner of this embodiment is placed in a room surrounded by walls on all sides and the operation switch 25 is operated, the electric blower 2 is activated, the travel motor 11 is driven, and the main body 1 starts self-propelled. do. While driving, the distance sensor 19 and the bumper 20 detect obstacles, and the driving direction is changed by driving the steering motor 15.
By controlling the drive, it repeatedly moves forward, stops, and retreats, and runs along the walls around the room while avoiding obstacles. When the robot completes one round of the room, it determines that the inside of this circular path is the cleaning area, and automatically cleans the entire cleaning area by running all over the area while avoiding obstacles.

During this run, the electric blower 2 operates to clean the floor by suctioning dirt from the floor nozzle 6, and the floor sensor constantly detects whether the floor to be cleaned is a carpet or a bare floor. While making the determination, if the floor surface is a carpet, the drive motor of the agitator 7 is driven to rotate the agitator 7, and if it is a bare floor, the agitator 7 is not rotated.

Furthermore, since the agitator 7 is rotatable in the direction of the arrow C, it follows unevenness on the floor surface, so the agitator 7 may get caught on the convex steps and obstruct the movement of the main body 1, making it impossible to change direction smoothly. There's no need to go over bumps or steps.

Also, while the floor nozzle 6 is traveling, the collapsible plate 40 of the floor nozzle 6 is attached in a U-shape with the bottom surface receding around the suction port 31, so that the dust 43 on the floor is removed as shown in FIG. When it hits the collapsible plate 40, it is carried in the direction of arrow e and approaches the suction port 31, resulting in very high dust collection efficiency. Further, since the floor nozzle 6 itself is placed apart from the floor surface, and only the tip of the retractable plate 40 contacts the floor surface, the floor nozzle 6 does not collide with a convex step on the floor surface, and the retractable plate 40 Since it can be folded backwards, it won't get caught on bumps on the floor.

FIG. 5 shows a floor nozzle section of another embodiment of the invention. Portions not shown in the figures and portions given the same numbers are the same as in the previous embodiment. In the figure, 50 is a drive lever attached to the support member 33 of the agitator 7, the tip of which is connected to the fulcrum 53 of the plunger 52 of the solenoid 51. With such a configuration, if the surface to be cleaned is a bare floor, the floor sensor 21 determines this, and the drive motor of the agitator 7 is stopped, and at the same time, the solenoid 51 is energized. When the solenoid 51 is energized, the plunger 52 moves in the direction of arrow f and is held, so that the drive lever 50
is pushed, the support member 33 rotates in the direction of arrow g, and the agitator 7 is housed in the floor nozzle 6 as shown by the imaginary line in the figure. When the cleaning surface is a carpet, conversely, the drive motor of the agitator 7 is driven and at the same time the solenoid 51 is de-energized. At this time, the agitator 7 becomes rotatable and comes into contact with the floor surface to scrape up the dust. In this way, depending on the material of the floor surface, the agitator 7 is made rotatable when necessary, and automatically retracted when it is unnecessary, thereby making it possible to connect the agitator 7 and the floor surface. Collisions can be minimized.

In this embodiment, the solenoid 51 is used as the actuator for rotating the support member 33, but another actuator such as a motor may be used.

FIG. 6 shows yet another embodiment of the foldable plate.

In the above embodiments, a plate made of a flexible material was fixed to the retractable plate, but in this embodiment, two plates 54.
55 is provided at the bottom of the floor nozzle 6 in a 7-shape support shaft 56.
57, respectively, and are movable in the direction of the arrow.

Effects of the Invention As described above, in the self-propelled vacuum cleaner of the present invention, the floor nozzle itself is placed away from the floor surface, and the retractable plate that can be folded at the rear is brought into contact with the floor surface, which improves the running of the main body. (By installing the foldable plate in a 7-shaped or U-shaped bottom shape with the area around the suction port receded, the foldable plate will prevent dirt from the floor from being removed from the suction port while driving.) Since the dust is collected nearby, the dust collection efficiency does not decrease even if the floor nozzle itself is placed away from the floor surface.

In addition, the agitator at the bottom of the main body can freely move up and down with respect to the floor nozzle by rotating the support member that supports the agitator about the rotation axis. For example, when the agitator collides with a convex part of the floor, Since the agitator escapes upward, it does not affect the running of the main unit.

Furthermore, the material of the floor surface is determined by the floor surface determination means, and the agitator can be stored inside the main body or protruded outside by driving the actuator depending on whether the use of the agitator is necessary or not. Collisions with the floor can be minimized.

As described above, according to the present invention, the floor nozzle at the bottom of the main body does not interfere with the movement of the main body, allowing smooth direction changes, excellent running performance with good ability to overcome steps, and moreover, high dust collection efficiency. A self-propelled vacuum cleaner can be obtained.

[Brief explanation of drawings]

FIG. 1 is a vertical sectional view of a self-propelled vacuum cleaner showing an embodiment of the present invention, FIGS. 2 and 3 are detailed views of main parts of the self-propelled vacuum cleaner, and FIG.
The figure is an explanatory diagram of the operation of the self-propelled vacuum cleaner, FIG. 5 is a detailed view of the main parts of a self-propelled vacuum cleaner showing another embodiment of the present invention, and FIG. 6 is a self-propelled vacuum cleaner showing a third embodiment. There is a detailed diagram of the main parts of the vacuum cleaner. ■...Body, 2...Electric blower, 3...Dust collection chamber,
4゜5... Filter, 6... Floor nozzle, 7... Agitator, 9... Traveling wheel, 10... Traveling drive unit, 1
DESCRIPTION OF SYMBOLS 1... Traveling motor, 12... Slave shaft, 13... Steering shaft, 14... Steering speed reducer, 15... Steering motor, 2
DESCRIPTION OF SYMBOLS 1... Floor sensor, 31... Suction port, 32... Rotating shaft, 33... Supporting member, 35... Rotating shaft, 40.
54.55...Flaptable plate, 51...Solenoid.

Claims (3)

[Claims] (1) Self-propelled means for making the vacuum cleaner itself move, a suction port that sucks up dirt from the floor, and a collapsible plate whose end surface touches the floor and which can be folded backwards is provided at the rear and lateral direction of the suction port. The self-propelled vacuum cleaner is equipped with a floor nozzle in the main body, and the retractable plate is attached in a V-shape or U-shape with the bottom surface receding around the suction port. (2) The main body is equipped with self-propelling means for self-propelling the vacuum cleaner main body, a floor nozzle having a suction port for sucking dirt on the floor surface, and a rotationally driven agitator, and a support member supporting the rotation shaft of the agitator. A self-propelled vacuum cleaner configured to be rotatable about a rotation axis provided parallel to the rotation axis. (3) Self-propelled means for self-propelling the vacuum cleaner body, a floor nozzle having a suction port for suctioning dirt on the floor and an agitator that is rotationally driven, and a floor discriminating means for discriminating the quality of the floor to be cleaned. A self-propelled vacuum cleaner comprising: a main body, and an actuator that rotates a support member that supports a rotation axis of the agitator about a rotation axis parallel to the rotation axis.